Image-Based Environment Reconstruction

3. The computer-implemented method of claim 1, further comprising, for a visible-light image captured from a given view point, transforming each portion of the visible-light image into a corresponding orthographic projection with respect to a direction of a depth axis of the visible-light image from the given view point, prior to storing said portion in the corresponding node.

4. The computer-implemented method of claim 1, wherein the convex-polyhedral regions are of varying sizes.

10. The computer-implemented method of claim 1, further comprising downscaling a given portion of a visible-light image, prior to storing in a corresponding node, when a frequency with which colour changes in the given portion of the visible-light image is less than a predefined threshold frequency.

13. The system of claim 11, wherein the at least one server is configured to, for a visible-light image captured from a given view point, transform each portion of the visible-light image into a corresponding orthographic projection with respect to a direction of a depth axis of the visible-light image from the given view point, prior to storing said portion in the corresponding node.

14. The system of claim 11, wherein the convex-polyhedral regions are of varying sizes.

20. The system of claim 11, wherein the at least one server is configured to downscale a given portion of a visible-light image, prior to storing in a corresponding node, when a frequency with which colour changes in the given portion of the visible-light image is less than a predefined threshold frequency.